My 2019 Silverado 1500 came with four trailer TPMS sensors that I had installed. There probably is a manual method of learning the sensors to the system, but getting an EL-50448 learn tool off Amazon makes the process much faster and easier. It costs about $10 to $15. Just make sure the learn tool is compatible with Ford sensors. Your truck may not have come with the sensors, in which case you would have to get them from the dealer or Amazon or some other place. Just make sure you don't get the sensors for the truck tires, because the trailer sensors are totally different and work off a different frequency. Also, make sure they will fit your rims. Apparently very large trailers have bigger rims with bigger valve stem holes and the sensors are too small for them. The Chevy/GMC setup works quite well and I've had no issues with it at all.
This is how my display looks...
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